CN210173576U - Transfer robot with multiple structured light binocular IR cameras - Google Patents
Transfer robot with multiple structured light binocular IR cameras Download PDFInfo
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- CN210173576U CN210173576U CN201921011476.XU CN201921011476U CN210173576U CN 210173576 U CN210173576 U CN 210173576U CN 201921011476 U CN201921011476 U CN 201921011476U CN 210173576 U CN210173576 U CN 210173576U
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Abstract
The carrying robot with the multiple structured light binocular IR cameras comprises a carrying robot shell, an RGB camera, a first structured light binocular IR camera and a second structured light binocular IR camera, wherein the RGB camera is installed on the side surface of the carrying robot shell, and the lens direction of the RGB camera is consistent with the X-axis direction; the first structured light binocular IR camera and the second structured light binocular IR camera are symmetrically arranged on two sides of the shell of the carrying robot by taking the RGB camera as a center, and the lens directions of the first structured light binocular IR camera and the second structured light binocular IR camera form an included angle of 30-90 degrees with the X axis in the XY axis plane; x, Y is a coordinate axis of three-dimensional cartesian coordinates, the X axis represents the direction in which the transfer robot moves forward, and the Y axis represents a coordinate axis perpendicular to the X axis in the horizontal plane. The utility model discloses visual angle range is wide, and the visual angle blind area is little, and the visual angle precision is high, can discern the barrier classification.
Description
Technical Field
The utility model relates to a transfer robot specifically is a transfer robot who relates to a have two mesh IR cameras of a plurality of structured light.
Background
The main functions of the transfer robot (AGV) are concentrated on automatic logistics transfer, and the transfer robot automatically transports articles to a designated place through special landmark navigation.
The existing transfer robot usually has only one collecting lens or even no collecting lens, is not comprehensive in environmental information collection, large in visual angle blind area and not accurate in positioning, and cannot identify the type of the barrier.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that, overcome above-mentioned background not enough, provide a transfer robot with two mesh IR cameras of a plurality of structured light, visual angle range is wide, and the visual angle blind area is little, and visual angle precision is high, can discern the barrier classification.
The technical scheme that its technical problem of solution adopted of the utility model is, a transfer robot with a plurality of structured light binocular IR cameras, including the transfer robot shell, still include RGB camera, first structured light binocular IR camera, second structured light binocular IR camera, RGB camera is installed in the side of transfer robot shell, the camera lens direction of RGB camera is unanimous with the X axle direction; the first structured light binocular IR camera and the second structured light binocular IR camera are symmetrically arranged on two sides of the shell of the carrying robot by taking the RGB camera as a center, and the lens directions of the first structured light binocular IR camera and the second structured light binocular IR camera form an included angle of 30-90 degrees with the X axis in the XY axis plane; x, Y is a coordinate axis of three-dimensional cartesian coordinates, the X axis represents the direction in which the transfer robot moves forward, and the Y axis represents a coordinate axis perpendicular to the X axis in the horizontal plane.
Further, the first structured light binocular IR camera and the second structured light binocular IR camera are composed of an infrared structured light generator and two IR cameras, the IR cameras are symmetrically arranged on the side face of the shell of the carrying robot by taking the infrared structured light generator as a center, and the lens direction of the IR cameras and the detection direction of the infrared structured light generator form an included angle of 30-90 degrees with the X axis in the XY axis plane.
The carrying robot further comprises a fisheye lens camera, wherein the fisheye lens camera is mounted at the top of the shell of the carrying robot, and the lens direction of the fisheye lens camera is along the Z-axis direction; the Z-axis represents a coordinate axis directed vertically upward.
The carrying robot further comprises a third structured light binocular IR camera, the third structured light binocular IR camera is installed at the lower part of the side surface of the shell of the carrying robot, and the lens direction of the third structured light binocular IR camera is consistent with the X-axis direction; the RGB camera is installed in the middle of the side face of the shell of the transfer robot and located right above the third structured light binocular IR camera.
Further, the shell of the transfer robot is hexagonal.
Compared with the prior art, the utility model has the advantages as follows:
the utility model discloses two mesh IR cameras of first structured light, two mesh IR cameras of second structured light that are equipped with different visual angle orientation can gather the information of each angle of environment comprehensively, increase visual angle coincidence area simultaneously, improve the visual angle precision, visual angle wide range, and the visual angle blind area is little, fixes a position accurately, combines the RGB camera, can discern the barrier classification.
Drawings
Fig. 1 is a schematic structural diagram of embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of embodiment 2 of the present invention.
Fig. 3 is a schematic structural diagram of embodiment 3 of the present invention.
Fig. 4 is a schematic structural diagram of embodiment 4 of the present invention.
The system comprises a carrying robot, a carrying robot shell, 2-RGB cameras, 3-first structured light binocular IR cameras, 4-second structured light binocular IR cameras, 5-fisheye lens cameras and 6-third structured light binocular IR cameras.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example 1
Referring to fig. 1, the present embodiment includes a transfer robot housing 1, an RGB camera 2, a first structured light binocular IR camera 3, and a second structured light binocular IR camera 4, wherein the RGB camera 2 is installed at a side surface of the transfer robot housing 1, and a lens direction of the RGB camera 2 is consistent with an X-axis direction; the first structured light binocular IR camera 3 and the second structured light binocular IR camera 4 are symmetrically arranged on two sides of the shell 1 of the transfer robot by taking the RGB camera 2 as a center, and the lens directions of the first structured light binocular IR camera 3 and the second structured light binocular IR camera 4 form an included angle of 30 degrees with the X axis in the XY axis plane; the transfer robot case 1 has a hexagonal shape.
The first structured light binocular IR camera 3 and the second structured light binocular IR camera 4 are both composed of an infrared structured light generator and two IR cameras, the IR cameras are symmetrically arranged on the side surface of the shell 1 of the transfer robot by taking the infrared structured light generator as a center, and the lens direction of the IR cameras and the detection direction of the infrared structured light generator form an included angle of 30 degrees with the X axis in the XY axis plane; the separation of the two IR cameras can be adjusted as desired. X, Y is a coordinate axis of three-dimensional cartesian coordinates, the X axis represents the direction in which the transfer robot moves forward, and the Y axis represents a coordinate axis perpendicular to the X axis in the horizontal plane.
In this embodiment, the first structured light binocular IR camera 3 is used to emit infrared structured light, collecting a synchronized first binocular image with structured light spots. The second structured-light binocular IR camera 4 is used to emit infrared structured light, collecting a synchronized second binocular image with structured-light spots. The first structured light binocular IR camera 3 and the second structured light binocular IR camera 4 acquire binocular images of obstacles at different angles within the range of 210 degrees and 240 degrees in the horizontal direction and within the range of 90-120 degrees in the vertical direction of the moving robot.
The RGB camera 2 is used for acquiring an image P1Picture P1For RGB image along X-axis, image P1The first binocular image and the second binocular image are used for assisting in identifying the obstacle category.
Example 2
Referring to fig. 2, the present embodiment differs from embodiment 1 only in that: still be equipped with fisheye lens camera 5, fisheye lens camera 5 installs in the top of transfer robot shell 1, and fisheye lens camera 5's camera lens direction is along Z axle direction. The lens directions of the first structured light binocular IR camera 3 and the second structured light binocular IR camera 4 form an included angle of 45 degrees with the X axis in the XY axis plane. X, Y is a coordinate axis of three-dimensional cartesian coordinates, the X axis represents the direction in which the transfer robot moves forward, the Y axis represents a coordinate axis perpendicular to the X axis in the horizontal plane, and the Z axis represents a coordinate axis directed vertically upward. The rest is the same as example 1. The first structured light binocular IR camera 3 and the second structured light binocular IR camera 4 acquire binocular images of obstacles at different angles within a range of 240 degrees and 270 degrees in the horizontal direction and within a range of 90-120 degrees in the vertical direction of the moving robot.
In this embodiment, the fisheye lens camera 5 is used for acquiring the image P2Picture P2Is an RGB image along the Z-axis direction.
Example 3
Referring to fig. 3, the present embodiment differs from embodiment 1 only in that: a third structured light binocular IR camera 6 is further arranged, the third structured light binocular IR camera 6 is mounted at the lower part of the side face of the carrying robot shell 1, and the lens direction of the third structured light binocular IR camera 6 is consistent with the X-axis direction; the RGB camera 2 is installed in the middle of the side of the transfer robot housing 1, and is located right above the third structured light binocular IR camera 6. The lens directions of the first structured light binocular IR camera 3 and the second structured light binocular IR camera 4 form an included angle of 60 degrees with the X axis in the XY axis plane. The rest is the same as example 1. The first structured light binocular IR camera 3, the second structured light binocular IR camera 4 and the third structured light binocular IR camera 6 acquire binocular images of obstacles at different angles within the range of 210 degrees and 240 degrees in the horizontal range and 90-120 degrees in the vertical range in the advancing direction of the carrying robot.
In this embodiment, the third structured light binocular IR camera 6 is used to emit infrared structured light, collecting a synchronized third binocular image with structured light spots.
Example 4
Referring to fig. 4, the present embodiment differs from embodiment 1 only in that: the carrying robot is characterized by further comprising a fisheye lens camera 5 and a third structured light binocular IR camera 6, wherein the fisheye lens camera 5 is mounted at the top of the carrying robot shell 1, and the lens direction of the fisheye lens camera 5 is along the Z-axis direction; the third structured light binocular IR camera 6 is arranged at the lower part of the side surface of the shell 1 of the transfer robot, and the lens direction of the third structured light binocular IR camera 6 is consistent with the X-axis direction; the RGB camera 2 is installed in the middle of the side of the transfer robot housing 1, and is located right above the third structured light binocular IR camera 6. The rest is the same as example 1. The first structured light binocular IR camera 3, the second structured light binocular IR camera 4 and the third structured light binocular IR camera 6 acquire binocular images of obstacles at different angles within the range of 270-300 degrees in the horizontal direction and 90-120 degrees in the vertical direction of the moving robot.
In this embodiment, the fisheye lens camera 5 is used for acquiring the image P2Picture P2Is an RGB image along the Z-axis direction. The third structured light binocular IR camera 6 is used to emit infrared structured light, collecting a synchronized third binocular image with structured light spots.
Various modifications and variations of the present invention may be made by those skilled in the art, and they are within the scope of the present invention provided they are within the scope of the claims and their equivalents.
What is not described in detail in the specification is prior art that is well known to those skilled in the art.
Claims (5)
1. A transfer robot having a plurality of structured light binocular IR cameras, comprising a transfer robot housing (1), characterized in that: the robot carrying system is characterized by further comprising an RGB camera (2), a first structured light binocular IR camera (3) and a second structured light binocular IR camera (4), wherein the RGB camera (2) is installed on the side face of the carrying robot shell (1), and the lens direction of the RGB camera (2) is consistent with the X-axis direction; the first structured light binocular IR camera (3) and the second structured light binocular IR camera (4) are symmetrically arranged on two sides of the shell (1) of the carrying robot by taking the RGB camera (2) as a center, and the lens directions of the first structured light binocular IR camera (3) and the second structured light binocular IR camera (4) form an included angle of 30-90 degrees with the X axis in the XY axis plane; x, Y is a coordinate axis of three-dimensional cartesian coordinates, the X axis represents the direction in which the transfer robot moves forward, and the Y axis represents a coordinate axis perpendicular to the X axis in the horizontal plane.
2. The transfer robot having the plurality of structured light binocular IR cameras according to claim 1, wherein: the first structured light binocular IR camera (3) and the second structured light binocular IR camera (4) are composed of an infrared structured light generator and two IR cameras, the IR cameras are symmetrically arranged on the side face of the shell (1) of the carrying robot by taking the infrared structured light generator as a center, and the lens direction of the IR cameras and the detection direction of the infrared structured light generator form an included angle of 30-90 degrees with an X axis in an XY axis plane.
3. The transfer robot having the plurality of structured light binocular IR cameras according to claim 1 or 2, wherein: the fish-eye lens carrying robot is characterized by further comprising a fish-eye lens camera (5), wherein the fish-eye lens camera (5) is mounted at the top of the carrying robot shell (1), and the lens direction of the fish-eye lens camera (5) is along the Z-axis direction; the Z-axis represents a coordinate axis directed vertically upward.
4. The transfer robot having the plurality of structured light binocular IR cameras according to claim 1 or 2, wherein: the carrying robot further comprises a third structured light binocular IR camera (6), the third structured light binocular IR camera (6) is installed on the lower portion of the side face of the carrying robot shell (1), and the lens direction of the third structured light binocular IR camera (6) is consistent with the X-axis direction; the RGB camera (2) is installed in the middle of the side face of the carrying robot shell (1) and is located right above the third structured light binocular IR camera (6).
5. The transfer robot having the plurality of structured light binocular IR cameras according to claim 1 or 2, wherein: the shell (1) of the transfer robot is hexagonal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921011476.XU CN210173576U (en) | 2019-07-02 | 2019-07-02 | Transfer robot with multiple structured light binocular IR cameras |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921011476.XU CN210173576U (en) | 2019-07-02 | 2019-07-02 | Transfer robot with multiple structured light binocular IR cameras |
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| CN210173576U true CN210173576U (en) | 2020-03-24 |
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| CN201921011476.XU Active CN210173576U (en) | 2019-07-02 | 2019-07-02 | Transfer robot with multiple structured light binocular IR cameras |
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Effective date of registration: 20221024 Address after: Room 304D, Building B-7, Lugu Yuyuan Production Workshop, No. 27, Wenxuan Road, Changsha Hi tech Development Zone, Changsha, Hunan 410221 Patentee after: Hunan Tianma Zhixing Technology Co.,Ltd. Address before: Room 518, Great Wall Wanfuhui Jinzuo, No. 9, Shuangyong Road, Kaifu District, Changsha, Hunan 410000 Patentee before: HUNAN HISIGNAL INFORMATION TECHNOLOGY CO.,LTD. |
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